R-LGP: a reachability-guided logic-geometric programming framework for optimal task and motion planning on mobile manipulators
This paper presents an optimization-based solution to task and motion planning (TAMP) on mobile manipulators. Logic-geometric programming (LGP) has shown promising capabilities for optimally dealing with hybrid TAMP problems that involve abstract and geometric constraints. However, LGP does not scal...
| Main Authors: | , , , , |
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| Format: | Conference item |
| Language: | English |
| Published: |
2024
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